Hello all, this is my first post it is kind of embarrassing and I apologize if it is too long.
I am an older man who doesn't have a lot of sexual experience. I recently met a wonderful woman and we have started to be sexually active, however she is already fairly experienced and really knows what she likes. So, I have been doing my homework on how best to please her, and have come to the understanding that the most important things are emotional connection, communication, and a willingness to please.
However, while communicating with her she revealed that her favorite sex is having her g-spot stimulated during intercourse - I have done this with my fingers but she has admitted to me that she likes it best with actual sex. This has caused me a lot of anxiety because all of the research I have done (anatomy, personal anecdotes, etc.) seems to say that effectively stimulating this spot during "normal" missionary intercourse requires a curved penis or toy, but mine is straight and around average size. Now I know from my homework there are other positions to stimulate this spot with a straight penis. However, it seems all of these positions either:

A) are too physically strenuous for us to perform (we are both elderly)
B) lack the intimacy we both really like (looking at each other's eyes, kissing, etc.)

So, I guess my question is are there any positions that would allow an older couple with limited capabilities and a straight penis to make love intimately and stimulate the woman's g-spot at the same time? Again I am sorry for the long post and if it makes anyone uncomfortable, but any help would be much appreciated.

Sincerely
Edward

PS: we would preferably like to make love naturally without many bells and whistles such as swings and liberator pads